Motion Planning

1 Motion Planning

This section covers fundamental approaches to motion planning, including search-based methods, sampling-based methods, optimization approaches, reactive methods, and their applications.

1.1 Search

• Dijkstra A Note on Two Problems in Connexion with Graphs, Dijkstra E. W. (1959).
• A* A Formal Basis for the Heuristic Determination of Minimum Cost Paths, Hart P. et al. (1968).
• Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles, Likhachev M., Ferguson D. (2008).
• Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame, Werling M., Kammel S. (2010). 🎞️
• Motion Planning under Uncertainty for On-Road Autonomous Driving, Xu W. et al. (2014).
• Monte Carlo Tree Search for Simulated Car Racing, Fischer J. et al. (2015). 🎞️

1.2 Sampling

• RRT* Sampling-based Algorithms for Optimal Motion Planning, Karaman S., Frazzoli E. (2011). 🎞️
• LQG-MP LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information, van den Berg J. et al. (2010).
• Motion Planning under Uncertainty using Differential Dynamic Programming in Belief Space, van den Berg J. et al. (2011).
• Rapidly-exploring Random Belief Trees for Motion Planning Under Uncertainty, Bry A., Roy N. (2011).
• PRM-RL PRM-RL: Long-range Robotic Navigation Tasks by Combining Reinforcement Learning and Sampling-based Planning, Faust A. et al. (2017).

1.3 Optimization

• Trajectory planning for Bertha - A local, continuous method, Ziegler J. et al. (2014).
• Learning Attractor Landscapes for Learning Motor Primitives, Ijspeert A. et al. (2002).
• Online Motion Planning based on Nonlinear Model Predictive Control with Non-Euclidean Rotation Groups, Rösmann C. et al (2020). :octocat:

1.4 Reactive

• PF Real-time obstacle avoidance for manipulators and mobile robots, Khatib O. (1986).
• VFH The Vector Field Histogram - Fast Obstacle Avoidance For Mobile Robots, Borenstein J. (1991).
• VFH+ VFH+: Reliable Obstacle Avoidance for Fast Mobile Robots, Ulrich I., Borenstein J. (1998).
• Velocity Obstacles Motion planning in dynamic environments using velocity obstacles, Fiorini P., Shillert Z. (1998).

1.5 Architecture and Applications

• A Review of Motion Planning Techniques for Automated Vehicles, González D. et al. (2016).
• A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles, Paden B. et al. (2016).
• Autonomous driving in urban environments: Boss and the Urban Challenge, Urmson C. et al. (2008).
• The MIT-Cornell collision and why it happened, Fletcher L. et al. (2008).
• Making bertha drive-an autonomous journey on a historic route, Ziegler J. et al. (2014).